Processing device, processing system, processing method, and storage medium

Abstract

The processing system of this embodiment includes a processing device. The processing device receives detection results of the reflected waves from a detector, which includes multiple detection elements arranged in intersecting first and second directions, and performs detection including transmitting ultrasonic waves toward the welding object and detecting the reflected waves. Based on the detection results, the processing device performs a first determination to determine whether the welding object is joined or not at multiple points along the first and second directions. The processing device then performs a second determination, based on the circular similarity of a first region of the points determined to be joined, to determine the appropriateness of the result of the first determination.

Description

Technical Field

[0001] Embodiments of the present invention relate to processing apparatus, processing system, processing method, and storage medium. Background Technology

[0002] In welding, portions of two or more components are fused together to join. The welded parts (hereinafter referred to as weld sections) are inspected to ensure proper joining. For example, in non-destructive inspection, a person holding a detector (the inspector) brings the detector into contact with the weld section. Ultrasonic waves are transmitted from the detector to the weld section, and data related to the welded object is derived based on the reflected waves. For non-destructive inspection, techniques that can improve the accuracy of the data related to the welded object are required.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2019-90727

[0006] Non-patent literature

[0007] Non-patent literature 1: Akira Ushijima, Masahiro Saito, and Makoto Matsumoto (2019) "Spot welding inspection robot that contributes to labor saving and reliability improvement through non-destructive inspection" Toshiba Review vol.74, No.4, pp.25-28 (Akira Ushijima, Masahiro Saito, and Makoto Matsumoto (2019) "Spot welding inspection robot that contributes to labor saving and reliability improvement through non-destructive inspection" Toshiba Overview vol.74, No.4, pp.25-28) Summary of the Invention

[0008] The technical problem that the invention aims to solve

[0009] The technical problem to be solved by the present invention is to provide a processing system, processing method, program and storage medium that can improve the accuracy of data related to the welding object.

[0010] Means for solving technical problems

[0011] The processing system of this embodiment includes a processing device. The processing device receives detection results of the reflected waves from a detector, which includes multiple detection elements arranged in intersecting first and second directions, and performs detection including transmitting ultrasonic waves toward the welding object and detecting the reflected waves. Based on the detection results, the processing device performs a first determination to determine whether the welding object is joined or not at multiple points along the first and second directions. The processing device then performs a second determination, based on the circular similarity of a first region of the points determined to be joined, to determine the appropriateness of the result of the first determination. Attached Figure Description

[0012] Figure 1 This is a block diagram illustrating the structure of the processing system in the implementation method.

[0013] Figure 2 This is a diagram illustrating a non-destructive inspection scenario.

[0014] Figure 3 This is a schematic diagram showing the internal structure of the detector front end.

[0015] Figure 4 This is a schematic diagram illustrating the processing of the processing system used to explain the implementation method.

[0016] Figure 5 This is a diagram illustrating the processing of the processing system used to explain the implementation method.

[0017] Figure 6 This is an example of an image showing the processing result of the processing system of the implementation method.

[0018] Figure 7 It is a bubble chart that shows the relationship between roundness, ellipticity, and test statistic.

[0019] Figure 8 This is a flowchart illustrating the inspection process of the processing system using the implementation method.

[0020] Figure 9 This is a schematic diagram representing the image of the detection results based on reflected waves.

[0021] Figure 10 This is a schematic diagram representing the image of the detection results based on reflected waves.

[0022] Figure 11 This is a flowchart illustrating the inspection process of the processing system using the implementation method.

[0023] Figure 12 This is a graph illustrating the intensity distribution of the reflected wave in the Z direction of a cross section.

[0024] Figure 13This is a graph illustrating the intensity distribution of the reflected wave in the Z direction.

[0025] Figure 14 This is a graph illustrating the result of filtering the intensity distribution of the reflected wave.

[0026] Figure 15 This is a schematic diagram illustrating the detection results of reflected waves.

[0027] Figure 16 This is an example of the intensity distribution of reflected waves in the XY plane.

[0028] Figure 17 This is a schematic diagram illustrating the detection results of reflected waves.

[0029] Figure 18 It is a flowchart illustrating the process of estimating the scope in the processing system of the implementation method.

[0030] Figure 19 This is an image illustrating the detection results of reflected waves.

[0031] Figure 20 This is a diagram illustrating the processing of the processing system used to explain the implementation method.

[0032] Figure 21 This is an example of an image obtained by the processing system of the implementation method.

[0033] Figure 22 This is an example of an image obtained by the processing system of the implementation method.

[0034] Figure 23 This is a schematic diagram showing the structure of a processing system in a modified embodiment of the implementation.

[0035] Figure 24 This is a perspective view showing a portion of a processing system in a modified embodiment.

[0036] Figure 25 This is a flowchart illustrating the operation of the processing system in a modified embodiment.

[0037] Figure 26 It is a block diagram representing the hardware structure of the system. Detailed Implementation

[0038] Hereinafter, various embodiments of the present invention will be described with reference to the accompanying drawings.

[0039] The accompanying drawings are schematic or conceptual, and the relationship between the thickness and width of each part, the ratio of the size between parts, etc., may not be the same as in reality. Even when representing the same parts, there may be cases where the dimensions and ratios of each other are represented differently according to the accompanying drawings.

[0040] In this application specification and figures, elements that are the same as those already described are labeled with the same reference numerals and detailed descriptions are omitted where appropriate.

[0041] Figure 1 This is a block diagram illustrating the structure of the processing system in the implementation method.

[0042] like Figure 1 As shown, the processing system 100 of this embodiment includes a processing device 110 and a storage device 120. The storage device 120 stores data related to welding inspection. The processing device 110 processes the data related to welding inspection.

[0043] Figure 1 The processing system 100 shown also includes a detector 130, an input device 140, and a display device 150. The detector 130 sends ultrasonic waves to an object and detects (receives) its reflected waves. The detector 130 includes, for example, a probe. Hereinafter, the transmission of ultrasonic waves and the detection of reflected waves by the detector 130 will be referred to as probing.

[0044] The processing device 110 performs various processes based on the detected reflected waves. The processing device 110 causes the display device 150 to display a user interface. The user can easily view the data obtained through processing via the user interface displayed on the display device 150. The user can input data to the processing device 110 via the user interface using the input device 140.

[0045] The processing device 110 is connected to the storage device 120, the detector 130, the input device 140, and the display device 150 via wired communication, wireless communication, or a network.

[0046] Here, we will explain the welding inspection process in detail. The welding inspection involves non-destructive testing of the welded areas.

[0047] Figure 2 This is a diagram illustrating a non-destructive inspection scenario.

[0048] Detector 130 includes multiple detection elements for inspecting the weld. Detector 130, for example, is... Figure 2 As shown, the detector 130 has a shape that allows a person to hold it by hand. The person holding the detector 130 brings the front end of the detector 130 into contact with the weld 13 and inspects the weld 13. Here, an example of a person holding the detector 130 and performing a weld inspection will be described. Hereinafter, the person holding the detector 130 and performing the weld inspection (e.g., the inspector) will be referred to as the user.

[0049] Figure 3 This is a schematic diagram showing the internal structure of the detector front end.

[0050] like Figure 3As shown, an array 131 comprising multiple detection elements 132 is disposed inside the front end of the detector 130. The detection elements 132 are, for example, transducers. Each detection element 132 emits ultrasonic waves at frequencies, for example, between 1 MHz and 100 MHz. The multiple detection elements 132 are arranged in mutually intersecting first and second directions. Figure 3 In the example shown, multiple detection elements 132 are arranged in mutually orthogonal X and Y directions.

[0051] The element array 131 is covered, for example, by a rigid propagation member 133. When the front end of the detector 130 contacts the weld portion 13, the rigid propagation member 133 is located between the element array 131 and the weld portion 13. The rigid propagation member 133 is made of a resin material or the like that facilitates the propagation of ultrasonic waves. By providing a rigid propagation member 133 whose shape corresponds to the surface of the weld portion 13, ultrasonic waves can easily propagate into the interior of the weld portion 13. The rigid propagation member 133 helps to suppress deformation and damage to the element array 131 when the detector 130 contacts the weld portion 13. The rigid propagation member 133 has sufficient hardness to suppress deformation and damage when in contact with the weld portion 13.

[0052] Figure 2 and Figure 3 This indicates an inspection of component 10, which is the object of welding. Component 10 is manufactured by spot welding metal plate 11 (first component) and metal plate 12 (second component) at welding section 13. Figure 3 As shown, in the welding section 13, a portion of the metal plate 11 and a portion of the metal plate 12 are melted to form a solidified section 14 that is mixed and solidified.

[0053] For example, during inspection, it is investigated whether a weld 13 has been formed. During inspection, the diameter of the weld 13 and whether the diameter is sufficient are investigated. During inspection, a coupling agent 15 is applied to the surface of the object in a manner that facilitates the propagation of ultrasonic waves between the object and the detector 130. Each detection element 132 sends ultrasonic waves US to the component 10 coated with coupling agent 15 and receives reflected waves RW from the component 10.

[0054] Alternatively, instead of the coupling agent 15, a soft propagating component that easily transmits ultrasonic waves can be provided at the front end of the detector 130. This soft propagating component is softer than the hard propagating component 133. When in contact with the weld 13, the soft propagating component deforms to conform to the shape of the surface of the weld 13. The soft propagating component is, for example, made of a gel-like resin.

[0055] For example, such as Figure 3As shown, a detection element 132 sends an ultrasonic wave US toward the welded part 13. A portion of the ultrasonic wave US is reflected by the upper or lower surface of the component 10. Multiple detection elements 132 respectively receive (detect) the reflected wave RW. Each detection element 132 sequentially sends an ultrasonic wave US, and each reflected wave RW is detected by the multiple detection elements 132.

[0056] Upon receiving the detection result of the reflected wave, the processing device 110 performs the following first and second determinations. In the first determination, the processing device 110 determines whether each point of the welding object is joined based on the obtained detection result. In the second determination, the processing device 110 defines a first region based on the points determined to be joined. The processing device 110 calculates the circle similarity of the first region and uses this circle similarity to determine whether the result of the first determination is appropriate. Circle similarity indicates the degree to which the shape of the first region is similar to a circle. For example, a larger circle similarity value indicates that the shape of the first region is closer to a circle.

[0057] The first and second determinations will be explained in detail below.

[0058] (First Judgment)

[0059] Figure 4 This is a schematic diagram illustrating the processing of the processing system used to explain the implementation method.

[0060] like Figure 4 As shown in (a), a portion of the ultrasonic wave US is reflected by the upper surface 11a of the metal plate 11 or the upper surface 13a of the weld 13. Another portion of the ultrasonic wave US is incident on the component 10 and reflected by the lower surface 11b of the metal plate 11 or the lower surface 13b of the weld 13.

[0061] The upper surface 11a, upper surface 13a, lower surface 11b, and lower surface 13b are all at different positions in the Z direction. That is, the distances in the Z direction between these surfaces and the detection element 132 are all different. When the detection element 132 receives reflected waves from these surfaces, it detects the peak values ​​of the reflected wave intensity. After transmitting the ultrasonic wave US, by calculating the time until each peak value is detected, it is possible to investigate on which surface the ultrasonic wave US is reflected.

[0062] Figure 4 (b) and Figure 4 (c) is a graph illustrating the relationship between the time after the transmission of the ultrasonic wave US and the intensity of the reflected wave RW. Figure 4 (b) and Figure 4 In (c), the vertical axis represents the elapsed time after the ultrasonic wave US is transmitted. The horizontal axis represents the intensity of the detected reflected wave RW. Here, the intensity of the reflected wave RW is expressed in absolute value. Figure 4The graph in (b) illustrates the detection results of the reflected wave RW from the upper surface 11a and lower surface 11b of the metal plate 11. Figure 4 The graph in (c) illustrates the detection results of the reflected wave RW from the upper surface 13a and lower surface 13b of the welded part 13.

[0063] exist Figure 4 In the curve (b), the first peak Pe11 is based on the reflected wave RW from the upper surface 11a. The second peak Pe12 is based on the reflected wave RW from the lower surface 11b. The times when peaks Pe11 and Pe12 are detected correspond to the Z-direction positions of the upper surface 11a and lower surface 11b of the metal plate 11, respectively. The time difference TD1 between the times when peaks Pe11 and Pe12 are detected corresponds to the Z-direction distance Di1 between the upper surface 11a and the lower surface 11b.

[0064] Similarly, in Figure 4 In the curve (c), the first peak Pe13 is based on the reflected wave RW from the upper surface 13a. The second peak Pe14 is based on the reflected wave RW from the lower surface 13b. The times when peaks Pe13 and Pe14 are detected correspond to the Z-direction positions of the upper surface 13a and lower surface 13b of the welded part 13, respectively. The time difference TD2 between the times when peaks Pe13 and Pe14 are detected corresponds to the Z-direction distance Di2 between the upper surface 13a and the lower surface 13b.

[0065] The processing device 110 determines whether the time difference between peak values ​​corresponds to the thickness of the weld portion 13. If it determines that the time difference between peak values ​​corresponds to the thickness of the weld portion 13, it determines that the point is joined. For example, the processing device 110 compares the time difference between peak values ​​at each point in the XY plane with a preset threshold. When the time difference is above the threshold, the processing device 110 determines that the point is joined. When the time difference is less than the threshold, the processing device 110 determines that the point is not joined. The threshold is set based on the thickness of the weld portion 13. Alternatively, a range can be set instead of a threshold. The processing device 110 determines that the point is joined when the time difference is within this range.

[0066] Furthermore, the intensity of the reflected wave can be represented in any way. For example, the intensity of the reflected wave output from the detection element 132 may include positive and negative values ​​depending on the phase. Various processing can also be performed based on the reflected wave intensity including positive and negative values. The reflected wave intensity including positive and negative values ​​may also be converted to absolute values. The average value of the reflected wave intensity at each time step may also be subtracted from the reflected wave intensity at each time step. Alternatively, a weighted average, a weighted moving average, or the like may be subtracted from the reflected wave intensity at each time step. Even when using the results of these processing applied to the reflected wave intensity, the various processing described in this application can still be performed.

[0067] Figure 5 This is a diagram illustrating the processing of the processing system used to explain the implementation method.

[0068] Figure 5 (a) is a schematic top view showing the vicinity of weld 13. Based on the reflected wave detected by detector 130, a determination is made, for example... Figure 5 Whether the points in the detection area DA shown in (a) are joined.

[0069] Figure 5 (b) indicates Figure 5 An example of the detection results for each point on line segment Li1 shown in (a). Figure 5 In (b), the vertical axis represents the position in the Z direction, which is perpendicular to the X and Y directions. The horizontal axis represents the position in the X direction. Figure 5 In (b), ○ (white circle) indicates the position of the first reflecting surface of component 10 in the Z direction. The first reflecting surface is the upper surface 11a of the metal plate 11, the upper surface 13a of the welded part 13, etc. ● (black circle) indicates the position of the second reflecting surface of component 10 in the Z direction. The second reflecting surface is the lower surface 11b of the metal plate 11, the lower surface 13b of the welded part 13, etc. As described above, these positions are calculated based on the time from the transmission of the ultrasonic wave US to the detection of the peak value of the reflected wave RW. Figure 5 In (b), ◆ indicates the determination result of joining or not joining. Points determined to be joined are represented by a value of 1, and points determined to be not joined are represented by a value of 0.

[0070] Figure 6 This is an example of an image showing the processing result of the processing system of the implementation method.

[0071] Using the method described above, a first determination is performed to determine whether each point in the detection region DA is joined. Based on the result of the first determination, the processing device 110 generates, for example... Figure 6 The image shown. In Figure 6In the diagram, white indicates that the point is joined. Black indicates that the point is not joined. The first region R1, based on the set of white dots, corresponds to the weld 13. The second region R2, based on the set of black dots, corresponds to the component 10 surrounding the weld 13.

[0072] The processing device 110 can determine the quality of a weld in a welding object based on the area of ​​the first region R1. The processing device 110 can also calculate the area of ​​the welded portion 13 based on the area of ​​the first region R1. The processing device 110 can also calculate the diameter of the welded portion 13 based on the diameter of the first region R1. For example, the distances between the detection elements 132 are pre-stored in the storage device 120. The processing device 110 uses the number of pixels in the first region R1 and the stored distances to calculate the area or diameter of the welded portion 13. For example, the processing device 110 calculates the major and minor diameters of the welded portion 13 as the diameter. The processing device 110 can also calculate the average of the major and minor diameters. The processing device 110 can also calculate the equivalent circle diameter of the first region R1 as the diameter of the welded portion 13. The equivalent circle diameter of the first region R1 has the area of ​​the first region R1 and is obtained by calculating the diameter of an imaginary circle having that area. The processing device 110 determines whether the weld in the welding object is good or bad by comparing the calculated arbitrary value with a preset threshold.

[0073] The first region R1 may include only a set of white dots or a portion of black dots. For example, the processing device 110 defines the set of white dots and the black dots surrounded by the set of white dots as the first region R1. When there are multiple sets of white dots, the processing device 110 defines these sets of white dots and the black dots located between each set of white dots as the first region R1.

[0074] The upper surface 13a and lower surface 13b of the welded portion 13 are sometimes inclined relative to the upper surface 11a of the metal plate 11. This is based on the fact that the welded portion 13 includes a solidified portion 14, and the deformation of the shape during the welding process. In this case, it is preferable to transmit the ultrasonic wave US along a direction that is on average perpendicular to the upper surface 13a or the lower surface 13b. As a result, the ultrasonic wave can be reflected more strongly on the upper surface 13a and the lower surface 13b, which can improve the accuracy of the inspection.

[0075] (Second Judgment)

[0076] In the second determination, it is determined whether the result of the first determination is appropriate. That is, it is determined whether the determination result of joining or not joining the points performed in the first determination is appropriate. In order to determine whether the result of the first determination is appropriate, the processing device 110 calculates the circular similarity of the first region R1 set based on the result of the first determination. As the circular similarity, roundness, circularity, or ellipticity can be used.

[0077] Circularity is calculated using the following method. A circle is internally tangent to the outer edge of the first region, and another circle is externally tangent to the outer edge of the first region. The centers of these two circles are located at the same position. The two circles are set such that their interval decreases. The difference in radii between the two circles corresponds to the roundness. The method for setting the center of the circle is arbitrary. For example, the following four methods are used: In the first method, the center of an approximate circle based on least squares is used. In the second method, the center of the largest circle internally tangent to the outer edge is used. In the third method, the center of the smallest circle externally tangent to the outer edge is used. In the fourth method, the centers of the internally and externally tangent circles with the smallest radius difference are used. Circularity can be calculated according to JIS B 0621 (1984). JIS B 0621 (1984) corresponds to ISO 1101 (1983).

[0078] Circularity is determined using the area A of the first region and the length L of the outer perimeter of the first region, by 4πA / L. 2 Ellipticity is represented by the ratio of the major axis to the minor axis. For example, the major axis is the length of the longest line segment connecting any two points on the outer edge of the first region R1. The minor axis is the length of the line segment passing through the center of the major axis and perpendicular to it.

[0079] As a measure of circular similarity, the ratio of the diameter r2 of the first region to the equivalent circular diameter r1 of the first region R1 can also be used. The diameter r2 can be, for example, the average of the major and minor axes. Alternatively, the average length of the first region R1 in multiple directions can also be used as the diameter r2.

[0080] For example, the processing device 110 calculates the ratio of roundness, ellipticity, or diameter as a first value representing the circle similarity. The processing device 110 compares the first value with a preset first threshold. The first threshold is set according to the type of circle similarity used. For example, when using roundness as the first value, the first threshold is set based on the average diameter of the actual welded portion 13. When using the ratio of roundness, ellipticity, or diameter as the first value, the closer the shape of the first region is to a circle, the closer the first value is to 1. For example, a value greater than 1 and less than 2 is set as the first threshold.

[0081] When the smaller the first region, the smaller the first value. When the first value is less than the first threshold, the processing device 110 determines that the result of the first determination is appropriate. For example, if the result of the first determination is deemed appropriate, the processing device 110 performs the following first action. In the first action, the processing device 110 uses the result of the first determination. For example, the processing device 110 uses data derived based on the result of the first determination as the inspection result of the welded object. For example, the data includes at least one of the area and diameter of the welded part 13. The data may also include the goodness or badness of the weld determined based on the area or diameter of the welded part 13. The data may be derived between the first determination and the second determination, or after the second determination. The processing device 110 may also derive the data based on the result of the first determination only when the result of the first determination is deemed appropriate. In the first action, the processing device 110 may also output at least one of the image representing the result of the first determination, the area of ​​the welded part 13, the diameter of the welded part 13, and the determination result of the goodness or badness of the weld to the storage device 120 or the display device 150.

[0082] When the first value exceeds a first threshold, the processing device 110 determines that the result of the first determination is inappropriate. For example, if the result of the first determination is determined to be inappropriate, the processing device 110 performs the following second action. In the second action, the processing device 110 does not use the result of the first determination. For example, when data such as the area of ​​the welded part 13, the diameter of the welded part 13, and the determination result of whether the weld is good or bad are derived between the first determination and the second determination, the processing device 110 does not use these data as the inspection result of the welded object. In the second action, the processing device 110 may also output the determination result indicating that the result of the first determination is inappropriate to the storage device 120 or the display device 150. In the second action, the processing device 110 may also prompt the user to perform a second detection of the welded part 13. The detector 130 may also automatically perform a second detection of the welded part 13 when the processing device 110 determines that the result of the first determination is inappropriate.

[0083] Figure 7 It is a bubble chart that shows the relationship between roundness, ellipticity, and test statistic.

[0084] Here, an example of performing a second criterion using ellipticity and roundness is illustrated. For example, a threshold for circle similarity is statistically set using a test statistic. Figure 7 In the diagram, the horizontal axis represents the ellipticity, and the vertical axis represents the roundness. The size of the circle (bubble) represents the test statistic.

[0085] The test statistic is calculated, for example, based on the Grubbs test. In the Grubbs test, the test statistic G is calculated using the diameter r, mean x, and variance σ of the weld 13, based on the inspection results, as G = (rx) / σ. The mean x and variance σ are calculated based on past inspection results. In the calculation of the mean x and variance σ, inspection results related to other welded objects welded under the same conditions as the welded object to be inspected are used.

[0086] When the test statistic G exceeds 2.745, the diameter r of the welded part 13 is determined to be a deviation value. For example, the processing device 110 calculates the relationship between roundness, ellipticity, and the test statistic based on past inspection results. Based on the calculated relationship, the processing device 110 determines the roundness value and ellipticity value corresponding to the test statistic G and 2.745. For example, in... Figure 7 In the example, a threshold of 1.2 is set relative to roundness, and a threshold of 1.6 is set relative to ellipticity. Figure 7 In the examples, when the roundness is less than 1.2 and the ellipticity is less than 1.6, 95% of the test statistic G is below 2.745. When the roundness is greater than 1.2 or the ellipticity is greater than 1.6, 95% of the test statistic G is greater than 2.745.

[0087] Figure 8 This is a flowchart illustrating the inspection process of the processing system using the implementation method.

[0088] The user brings the front end of detector 130 into contact with the weld 13. The user performs a detection using detector 130 (step S1). For example, detector 130 is provided with a button for performing the detection. The user can perform a detection based on detector 130 by operating the button. Alternatively, the user can also perform a detection based on detector 130 through a user interface displayed on display device 150. Detector 130 sends the detection result of the reflected wave obtained through detection to processing device 110.

[0089] Upon receiving the detection result, the processing device 110 performs a first determination (step S2) to determine whether the welded object is joined or not at multiple points. The processing device 110 then performs a second determination (step S3) to determine whether the result of the first determination is appropriate. If the result of the first determination is deemed appropriate, the processing device 110 performs a first action (step S4). If the result of the first determination is deemed inappropriate, the processing device 110 performs a second action (step S5).

[0090] The effects of the implementation method are explained.

[0091] For example, there are methods where, during inspection of a welded object, joints and non-joints are determined at multiple points on the welded object, and the quality of the weld is determined based on the area of ​​the first region R1. Alternatively, there are methods where the area or diameter of the welded portion 13 is calculated based on the area or diameter of the first region R1, and the quality of the weld is determined based on the area or diameter of the welded portion 13. According to these methods, the quality of welds in a welded object can be determined with approximately high accuracy.

[0092] Further verification by the inventors revealed that, in the aforementioned method, it is difficult to determine whether the weld 13 is good or bad. Specifically, it was found that even when the tilt of the detector 130 relative to the weld 13 is sufficiently small and the detector 130 is in reliable contact with the weld 13, there are still cases where a well-welded weld 13 is judged as bad.

[0093] Figure 9 (a)~ Figure 9 (c) and Figure 10 This is a schematic diagram representing the image of the detection results based on reflected waves.

[0094] Figure 9 (a)~ Figure 9 The image of (c) and Figure 6 Similarly, it indicates that the result of the joint is determined at multiple points of the welded object. Figure 9 (a)~ Figure 9 The determination result of the joint shown in (c) is based on the detection result obtained under the condition that the tilt angle of the detector 130 is sufficiently small relative to the same part of the same weld object. The inventors have found that, as Figure 9 (a)~ Figure 9 As shown in (c), there are cases where the shape and size of the first region R1 deviate significantly for each test result. The cause of the deviation is not yet clear, but it is believed to be affected by factors such as the tilt of the welded part 13 relative to the overall welded object and the material of the welded object.

[0095] exist Figure 9 In image (a), a portion of the first region R1 is highlighted. Figure 9 In (c), the entire first region R1 is bent. The actual shape of the weld 13 is difficult to produce as the shape of the first region R1 shown in these images. Figure 9 In image (b), the first region R1 is close to a circle compared to the other images. Figure 9 The first region R1 in (b) is closer to the shape of the actual weld 13 than the first region R1 in other images.

[0096] Figure 10 and Figure 9The image shown in (a) is the same. When the major and minor diameters of weld 13 are calculated during inspection, as shown... Figure 10 As shown, it is possible to calculate the major axis L1 and minor axis L2 of the first region R1 based on the protruding portion. In this case, the major and minor axes of the welded portion 13 are calculated to be longer than they actually are. Regarding the area, the area of ​​the welded portion 13 is also calculated to be larger than it actually is.

[0097] exist Figure 9 In the image shown in (c), the size of the weld portion 13 represented by the first region R1 is smaller than the actual size of the weld portion 13. Regarding these images, it is possible that the major and minor axes of the weld portion 13 are calculated to be shorter than they actually are.

[0098] If the area or diameter of the welded part 13 is calculated differently from the actual area or diameter, the quality of the weld based on that area or diameter may be incorrectly determined. For example, if the area or diameter of the welded part 13 is calculated to be larger than the actual area or diameter, the weld may be judged as good even if it is actually defective. Conversely, if the area or diameter of the welded part 13 is calculated to be smaller than the actual area or diameter, the weld may be judged as defective even if it is actually good. If the area or diameter of the welded part 13 is referenced in other processes for quality management purposes, problems may arise in those other processes.

[0099] To address this technical problem, in the processing system 100 of the embodiment, the processing device 110 performs a second determination based on the first determination. In the second determination, it is determined whether the result of the first determination is appropriate. That is, it is determined whether the determination results of joint and non-joint at multiple points of the welding object are appropriate. To determine whether the result of the first determination is appropriate, the processing device 110 calculates the circular similarity of the first region R1 set based on the result of the first determination.

[0100] like Figure 9 As shown in (b), when the size and shape of the weld portion 13 represented by the first region R1 are close to the actual weld portion 13, the shape of the first region becomes even more similar to a circle. When the first region is similar to a circle based on the result of the first determination, the processing device 110 determines that the result of the first determination is appropriate. When the shape of the first region is not similar to a circle, the result of the first determination is determined to be inappropriate.

[0101] For example, only when the result of the first determination is deemed appropriate by the second determination, more accurate data related to the welded object can be derived by adopting the result of the first determination. For example, more accurate data can be obtained regarding the area of ​​the welded part 13, the diameter of the welded part 13, and whether the weld is good or bad.

[0102] By executing the second determination, the user does not need to base it on... Figure 6The image shown is used to determine whether the result of the first determination is appropriate. Therefore, it is possible to determine the appropriateness of the first determination result without relying on the user's knowledge or experience. Even when an inexperienced user performs the check, more appropriate data can be used as the check result.

[0103] The processing device 110 may also use two or more values ​​selected from roundness, circularity, ellipticity, and the ratio of diameter. For example, the processing device 110 calculates a first value representing the circle similarity using one of the following: roundness, circularity, ellipticity, and the ratio of diameter. The processing device 110 calculates a second value representing the circle similarity using another of the following: roundness, circularity, ellipticity, and the ratio of diameter. The processing device 110 performs a second determination by comparing the first value and the second value with a preset first threshold and a second threshold, respectively. For example, the processing device 110 determines that the result of the first determination is appropriate only when it determines that the first region R1 is similar to a circle based on the relationship between the first value and the first threshold, and also determines that the first region R1 is similar to a circle based on the relationship between the second value and the second threshold.

[0104] like Figure 10 As shown, the major axis L1 and minor axis L2 of the first region R1 may be calculated to be significantly different from the major and minor axes of the actual welded portion 13. Consequently, the minor axis L2 of the first region R1 may become a value close to the major axis L1. Therefore, when using ellipticity as the similarity to a circle, although the shape of the first region R1 is significantly different from a circle, there is a possibility that the first region R1 may be judged to be similar to a circle. Therefore, when using ellipticity as the similarity to a circle, it is preferable to further use the ratio of roundness, circularity, or diameter.

[0105] The processing device 110 can also estimate the extent of the welded portion 13 and calculate its tilt relative to the welded portion 13 based on the detection results of the reflected wave. Here, the angle between the normal direction of the surface of the welded portion 13 and the direction of the detector 130 is called the tilt. The direction of the detector 130 corresponds, for example, to the Z direction perpendicular to the arrangement direction of the detection elements 132. When the detector 130 is in perpendicular contact with the surface of the welded portion 13, the tilt is zero.

[0106] The tilt angle of the detector 130 relative to the welding object or weld 13 may affect the inspection results. For example, if the first determination is performed with the detector 130 tilted relative to the welding object, it may be determined as not joined even if the joint is actually properly joined. Therefore, it is preferable to set the tilt angle of the detector 130 relative to the welding object to be small before performing the first determination.

[0107] The tilt angle of detector 130 is calculated using the detection results of the reflected wave from weld 13. In the first determination, it is sufficient to determine whether the weld is joined or not based on the reflected wave from weld 13. By reducing the computational workload for the detection results of reflected waves from areas other than weld 13, the time required for each process can be shortened. Therefore, it is preferable to extract a portion of the detection results, including the reflected wave from weld 13, before calculating the tilt angle and performing the first determination.

[0108] Figure 11 This is a flowchart illustrating the inspection process of the processing system using the implementation method.

[0109] Reference Figure 11 The procedure for checking the range of motion and the tilt calculation is described. The user performs a detection by the detector 130 (step S1). When the detection is performed, the processing device 110 determines whether the range corresponding to the reflected wave from the weld 13 has been estimated for the welded object that has been detected (step S11). If the range has not been estimated, the processing device 110 estimates the range (step S12).

[0110] For example, Figure 4 (a) and Figure 5 As shown in (b), the ultrasonic waves are also reflected from surfaces other than the welded portion 13. The processing device 110 estimates the range corresponding to the reflected waves from the welded portion 13, and performs a subsequent calculation of the tilt angle based on the reflected waves included in that range. This reduces the necessary computational load and improves the accuracy of the calculated tilt angle.

[0111] Based on the detection results of reflected waves within the estimated range, the processing device 110 calculates the tilt angle of the detector 130 (step S13). It then determines whether the calculated tilt angle is within the allowable range (step S14). This determination can be performed by either the user or the processing device 110. When the processing device 110 makes the determination, the allowable range can be preset by the user or set based on historical inspection results.

[0112] For example, when processing device 110 inspects weld 13, it determines the diameter of weld 13 based on the inspection results. If the tilt of detector 130 is too large, the diameter of weld 13 is calculated to be smaller than it actually is. As the tilt of detector 130 decreases, the calculated diameter of weld 13 increases. If the tilt of detector 130 is sufficiently small, the calculated diameter of weld 13 hardly changes. Such previously calculated relationships between the tilt of detector 130 and the diameter of weld 13 are stored in storage device 120. Based on the data stored in storage device 120, processing device 110 determines a boundary value for reducing the change in the diameter of weld 13 in response to changes in the tilt of detector 130. Processing device 110 sets the size of an allowable range based on this boundary value. For example, processing device 110 sets the boundary value as the size of the allowable range. Alternatively, to further improve the accuracy of the inspection, processing device 110 may also set a smaller value calculated based on the boundary value as the allowable range.

[0113] When the tilt is outside the allowable range, the user adjusts the tilt of detector 130 (step S15). If the processing device 110 executes step S14, it may also notify the user that the tilt is outside the allowable range. After step S15, step S1 is executed again with the adjusted tilt. When the tilt is within the allowable range, a first determination is performed (step S2). Preferably, in the first determination, points on the XY plane within the range estimated in step S12 are determined to be either joined or not joined. After step S2, [the process continues with...]. Figure 8 The flowchart shown is executed in the same way, following steps S3 to S5.

[0114] The following section explains a specific case regarding the estimation of the range, the calculation of the inclination, and the inspection.

[0115] (Range estimation)

[0116] Reference Figures 12-19 Please provide a detailed explanation of the estimated range.

[0117] For example, in Figure 5 In (b), the detection result of the reflected wave is represented in a two-dimensional manner. The detection result of the reflected wave can also be represented in a three-dimensional manner. For example, multiple voxels are set for component 10. Coordinates in the X, Y, and Z directions are set for each voxel. Based on the detection result of the reflected wave, a correlation is established between each voxel and the intensity of the reflected wave. The processing device 110 estimates the range (group of voxels) corresponding to the weld portion 13 for the multiple voxels. The number of voxels set and the size of each voxel can be determined automatically or set by the user through the user interface of the display device 150.

[0118] Figure 12 (a) and Figure 12 (b) is a graph illustrating the intensity distribution of the reflected wave in the Z direction in a cross section.

[0119] Figure 13 This is a graph illustrating the intensity distribution of the reflected wave in the Z direction.

[0120] The processing device 110 generates the intensity distribution of the reflected wave in the Z direction based on the detection results of the reflected wave. Figure 12 (a) and Figure 12 (b) is one example. Figure 12 (a) and Figure 12 In (b), the horizontal axis represents the position in the Z direction, and the vertical axis represents the intensity of the reflected wave. Figure 12 (a) illustrates the intensity distribution of the reflected wave in the Z direction in an XZ section. Figure 12 (b) illustrates the intensity distribution of the reflected wave in the Z direction within a YZ section. Figure 12 (a) and Figure 12 In (b), represents the result after converting the intensity of the reflected wave to an absolute value.

[0121] Alternatively, the processing device 110 can sum the intensity of the reflected waves on the XY plane at each point in the Z direction to generate the intensity distribution of the reflected waves in the Z direction. Figure 13 This is one example. In Figure 13 In the diagram, the horizontal axis represents the position in the Z-direction, and the vertical axis represents the intensity of the reflected wave. Figure 13 The diagram shows the result obtained by converting the reflected wave intensity to an absolute value and subtracting the average value of the reflected wave intensity from the reflected wave intensity at each point in the Z direction.

[0122] The intensity distribution of the reflected wave in the Z direction includes components reflected from the upper surface 13a and lower surface 13b of the weld portion 13, as well as components reflected from the upper and lower surfaces of other portions. The processing device 110 extracts only the components reflected from the upper surface 13a and lower surface 13b of the weld portion 13 from the intensity distribution of the reflected wave through filtering. For example, a value corresponding to an integer multiple of half the thickness of the weld portion 13 in the Z direction (the distance between the upper surface 13a and lower surface 13b) is preset. The processing device 110 refers to this value and extracts only the periodic component of that value.

[0123] As a filtering method, bandpass filters, zero-phase filters, low-pass filters, high-pass filters, or threshold determination based on the intensity of the filtered result can be used.

[0124] Figure 14 This is a graph illustrating the result of filtering the intensity distribution of the reflected wave.

[0125] exist Figure 14In the diagram, the horizontal axis represents the position in the Z-direction, and the vertical axis represents the intensity of the reflected wave. For example... Figure 14 As shown, the filtering result only extracts the components reflected from the upper and lower surfaces of the weld.

[0126] The processing device 110 estimates the range of the weld in the Z direction based on the extraction results. For example, the processing device 110 detects peak values ​​included in the extraction results. The processing device 110 detects the Z-direction positions of the first peak value and the second peak value. Using these positions as a reference, the processing device 110, for example, [determines / determines / determines / are / etc.]. Figure 14 The range Ra1 shown is estimated to be the range in the Z direction of the welded part.

[0127] Depending on the construction of the welded section and the structure of the component array 131, the sign (positive or negative) of the reflected wave intensity from the upper surface of the welded section is sometimes reversed with the sign of the reflected wave intensity from the lower surface of the welded section. In this case, the processing device 110 can also detect the peak value of one side (positive or negative) and other peak values ​​of the other side (positive or negative). The processing device 110 estimates the range of the welded section in the Z direction based on the positions of these peak values. Depending on the processing of the reflected wave intensity, sometimes the reflected wave intensity is represented by only one of positive and negative values. In this case, the range of the welded section in the Z direction can be estimated based on the positions of multiple peak values, the positions of peak and valley values, or the positions of multiple valley values. That is, the processing device 110 estimates the range of the welded section in the Z direction based on the positions of multiple extreme values ​​for the filtered reflected wave intensity.

[0128] When generating the intensity distribution of reflected waves in the XZ and YZ sections respectively, the range in the Z direction based on the intensity distribution in the XZ section and the range in the Z direction based on the intensity distribution in the YZ section are estimated. For example, the processing device 110 calculates the average, weighted average, weighted moving average, etc., for these multiple estimation results, and estimates the calculation result as the range in the Z direction of the entire weld.

[0129] Alternatively, the processing device 110 may estimate the range of the weld in the Z direction based on the intensity distribution of the reflected waves from either the XZ or YZ cross section, and treat this estimation result as the range of the weld in the Z direction for the entire weld. The processing device 110 may also estimate the range of the weld in the Z direction based on the intensity distribution of the reflected waves in a portion of the X direction and a portion of the Y direction, and treat this estimation result as the range of the weld in the Z direction for the entire weld. According to these processing methods, the computational load required to generate the intensity distribution of the reflected waves can be reduced.

[0130] exist Figure 14In the example, the lower limit of the range Ra1 in the Z direction is set to a value obtained by subtracting a predetermined value from the position of the first peak in the Z direction. The upper limit of the range Ra1 in the Z direction is set to a value obtained by adding a predetermined value to the position of the second peak in the Z direction. Thus, when the upper and lower surfaces of the weld are tilted relative to the arrangement direction of the detection element 132, it is possible to suppress the deviation of the second peak from the Z direction at any point in the XY plane of the weld.

[0131] After estimating the range of the welded portion in the Z direction, the processing device 110 estimates the range of the welded portion in the X direction and the range in the Y direction.

[0132] Figure 15 as well as Figure 17 This is a schematic diagram illustrating the detection results of reflected waves.

[0133] exist Figure 15 as well as Figure 17 In the diagram, region R represents the entire area from which the detection results of the reflected waves are obtained through the element array 131. A cross-section of region R includes the components of the reflected waves in the upper and lower surfaces of the welded portion, and the components of the reflected waves in the upper and lower surfaces of other portions.

[0134] The processing device 110 generates the intensity distribution of reflected waves in the XY plane at various points in the Z direction. The processing device 110 can also generate the intensity distribution within a pre-set range in the Z direction. This reduces the computational load. Alternatively, the processing device 110 can generate the intensity distribution within an estimated range in the Z direction. This reduces the computational load and suppresses the detachment of reflected waves from the lower surface of the weld when generating the intensity distribution of reflected waves in the XY plane.

[0135] Figure 16 (a)~ Figure 16 (c) is an example of the intensity distribution of reflected waves in the XY plane. Figure 16 (a) represents the intensity distribution of the reflected wave in the XY plane at the coordinate Z=1. Figure 16 (b) represents the intensity distribution of the reflected wave in the XY plane at the coordinate Z=2. Figure 16 (c) represents the intensity distribution of the reflected wave in the XY plane at coordinates Z = 35°. Figure 15 , Figure 16 (a)~ Figure 16 (c) and Figure 17 In the diagram, the intensity of the reflected wave is represented in binary form.

[0136] The processing device 110 calculates the centroid position of the intensity distribution of the reflected wave in the XY plane at each point in the Z direction. Here, the centroid position of the intensity distribution is obtained by calculating the centroid position of an image representing the intensity distribution. For example, as... Figure 16 (a)~ Figure 16 As shown in (c), the processing device 110 calculates the centroid positions C1 to C350 in each image. Figure 17 In the diagram, line segment Li2 represents the result of connecting all centroid positions from Z=0 to Z=350.

[0137] The processing device 110 averages the position of the center of gravity from Z=0 to Z=35°. This allows the acquisition of the average position of the center of gravity in the X direction and the average position of the center of gravity in the Y direction. Figure 17 In this context, the average position AP represents the average position of the center of gravity in the X direction and the average position of the center of gravity in the Y direction. The processing device 110, centered on the average position AP, defines a predetermined range in each of the X and Y directions as the range Ra2 in the X direction and the range Ra3 in the Y direction of the welded portion.

[0138] For example, to estimate ranges Ra2 and Ra3, a value V representing the diameter of detector 130 (element array 131) is preset. The processing device 110 defines ranges Ra2 and Ra3 in the X and Y directions, respectively, from AP-V / 2 to AP+V / 2. In this case, the estimated range of the XY plane is a quadrilateral shape. However, this is not limited to this example; the estimated range of the XY plane can also be a polygon with five or more sides, or a circle, etc. The shape of the estimated range of the XY plane can be appropriately changed according to the shape of the welded part.

[0139] Alternatively, other values ​​based on value V can be used to determine ranges Ra2 and Ra3. A value representing the average diameter of the welded portion can also be preset instead of a value representing the diameter of detector 130. The diameter of the welded portion corresponds to the diameter of detector 130. The value representing the diameter of the welded portion can essentially be considered as a value representing the diameter of detector 130.

[0140] Through the above processing, the ranges Ra1 in the Z direction, Ra2 in the X direction, and Ra3 in the Y direction of the welded area are estimated. After estimating the ranges, based on the detection results of the reflected waves within the estimated ranges, the following steps are performed: Figure 11 Step S12 is shown.

[0141] Figure 18 It is a flowchart illustrating the process of estimating the scope in the processing system of the implementation method.

[0142] The processing device 110 generates an intensity distribution of the reflected wave in the Z direction based on the detection result of the reflected wave from the detector 130 (step S121). The processing device 110 filters the intensity distribution based on the thickness of the weld (step S122). Thus, only the reflected wave component from the weld 13 is extracted from the intensity distribution. The processing device 110 estimates the range of the weld in the Z direction based on the extraction result (step S123). The processing device 110 calculates the centroid position of the reflected wave intensity on the XY plane at each point in the Z direction (step S124). The processing device 110 calculates an average position by averaging the calculated multiple centroid positions (step S125). The processing device 110 estimates the ranges in the X and Y directions based on the average position and the diameter of the detector 130 (step S126).

[0143] Furthermore, the range estimation in the Z direction can also be performed after the range estimations in the X and Y directions. For example, in Figure 18 In the flowchart shown, steps S121 to S123 can also be executed after steps S124 to S126. In this case, the processing device 110 can also calculate the intensity distribution of the reflected wave in the Z direction based on the estimated range in the X and Y directions. This reduces the computational load.

[0144] (Calculation of inclination)

[0145] Figure 19 This is an image illustrating the detection results of reflected waves.

[0146] exist Figure 19 In the diagram, the whiter the color, the greater the intensity of the reflected wave at that point. Processing device 110 targets... Figure 19 The test results shown are executed. Figure 20 The action shown. The result, the estimated range Ra.

[0147] The following is a specific example illustrating the method for calculating the inclination in the range Ra.

[0148] Figure 20 This is a diagram illustrating the processing of the processing system used to explain the implementation method.

[0149] Figure 21 and Figure 22 This is an example of an image obtained by the processing system of the implementation method.

[0150] Figure 21 It is a three-dimensional volume data depicted based on the detection results of reflected waves. Figure 22 (a) indicates Figure 21 The surface of the welded part 13 in the body data shown. Figure 22 (b) indicates Figure 21The YZ section near weld 13 in the volume data shown. Figure 22 (c) represents Figure 21 The XZ section near weld 13 in the volume data shown. Figure 22 (b) and Figure 22 In (c), the upper part represents the surface of the welded part, and the lower part represents the data in the depth direction. The brighter parts are those with high ultrasonic wave reflection intensity. Ultrasonic waves are strongly reflected on the bottom surface of the welded part 13, the surfaces between unjoined parts, etc.

[0151] The tilt of detector 130 corresponds to Figure 20 The angle shown is between the direction 13d, which is perpendicular to the welded part 13, and the direction 130a of the detector 130. This angle is represented by the angle θx about the X direction and the angle θy about the Y direction. The direction 130a of the detector 130 is perpendicular to the arrangement direction of the detection elements 132.

[0152] Angle θx Figure 22 As shown in (b), the angle θy is calculated based on the detection results in the YZ section. Figure 22 As shown in (c), the calculation is based on the detection results in the XZ section. The processing device 110 calculates the average of the three-dimensional brightness gradient for each section as angles θx and θy. The processing device 110 stores the calculated angles θx and θy as the tilt of the detector 130 in the storage device 120. The processing device 110 can also make the display device 150 display the calculated tilt.

[0153] By calculating the tilt angle of detector 130 and reducing it, the accuracy of determining whether points are aligned can be improved in the first determination. This enhances the accuracy of data based on the results of the first determination. By estimating the tilt angle calculation and the range of the first determination, the computational load required for each process can be reduced.

[0154] (Modified Example)

[0155] The inspection of the welded parts described above can also be performed automatically by a robot.

[0156] Figure 23 This is a schematic diagram showing the structure of a processing system in a modified embodiment of the implementation.

[0157] Figure 24 This is a perspective view showing a portion of a processing system in a modified embodiment.

[0158] Figure 23 The processing system 100a shown includes a processing device 110 and a robot 160. The robot 160 includes a detector 130, a camera device 161, a coating device 162, an arm 163, and a control device 164.

[0159] The camera device 161 captures an image of the welded component. The camera device 161 extracts welding marks from the image and detects the approximate location of the welded portion 13. The coating device 162 applies coupling agent to the upper surface of the welded portion 13.

[0160] like Figure 24 As shown, detector 130, camera device 161, and coating device 162 are disposed at the front end of arm 163. Arm 163 is, for example, a multi-joint robot. By driving arm 163, detector 130, camera device 161, and coating device 162 can be displaced. Control device 164 controls the movements of each component of robot 160 (detector 130, camera device 161, coating device 162, and arm 163).

[0161] Figure 25 This is a flowchart illustrating the operation of the processing system in a modified embodiment.

[0162] The processing device 110 sends the coordinates of the welded portion 13 stored in the storage device 120 to the control device 164. The control device 164 drives the arm 163, moving its tip toward the received coordinates (step S21). If the detector 130 moves to the vicinity of the received coordinates, the camera device 161 captures an image of the component 10, and detects the detailed position of the welded portion 13 based on the acquired image (step S22). The control device 164 drives the arm 163, moving the coating device 162 to the vicinity of the detected position (step S23). The coating device 162 applies coupling agent to the welded portion 13 (step S24). The control device 164 drives the arm 163, moving the detector 130 so that its tip contacts the welded portion 13 coated with coupling agent (step S25). Afterwards, with... Figure 11 The flowchart shown is executed in the same way as S1 to S5 and S11 to S15.

[0163] In the second action of step S5, the detection in step S2 can also be performed again. For example, if the result of the first determination is deemed inappropriate in step S3, the processing device 110 sends the determination result to the control device 164. Upon receiving the determination result, the control device 164 performs the detection based on the detector 130 again.

[0164] At this time, the control device 164 can also set the tilt of the detector 130 relative to the welding object to the same value as the tilt in the previous detection. Even if the tilt of the detector 130 is the same value as the previous tilt, the detection result of the reflected wave may be different from the previous detection result. By setting the tilt of the detector 130 to the same value as the previous tilt, the tilt is maintained within the allowable range.

[0165] Alternatively, the control device 164 can set the tilt of the detector 130 relative to the welding object to a value different from the tilt in the previous detection. In this case, it is preferable that the change in tilt is smaller than the difference between the previous tilt and the critical value of the allowable range. Thus, even when the tilt of the detector 130 is changed, it is possible to prevent the changed tilt from falling outside the allowable range. By changing the tilt of the detector 130, the possibility of obtaining a detection result different from the previous reflected wave detection result increases.

[0166] When the tilt angle of detector 130 is set to a value different from the tilt angle in the previous detection, control device 164 can also set the tilt angle of detector 130 outside the allowable range. Thus, the tilt angle of detector 130 is set to a value significantly different from the tilt angle in the previous detection. As a result, the possibility of obtaining a detection result significantly different from the previous detection increases. Based on the detection result significantly different from the previous detection, the tilt angle of detector 130 is readjusted, thereby making it possible to control detector 130 to a state that yields more appropriate detection results.

[0167] The control device 164 may also execute step S22 or S24 again. That is, the control device 164 detects the position of the welded part 13 again. This allows for a more accurate detection of the position of the welded part 13, potentially leading to a more appropriate first determination result. Alternatively, the control device 164 may apply coupling agent to the welded part 13 again. For example, if the coupling agent was not sufficiently filled between the welded part 13 and the detector 130 during the previous detection, there is a possibility of obtaining a more appropriate first determination result by reapplying the coupling agent. After executing step S22 or S24, subsequent steps are executed again.

[0168] In the processing system 100a, a second determination is performed, thereby obtaining more accurate data related to the welding object. For example, if the area or diameter of the weld portion 13 is calculated based on the result of the first determination, a more accurate value can be obtained by using the value based on the result of the first determination that is deemed appropriate.

[0169] Figure 26 It is a block diagram representing the hardware structure of the system.

[0170] For example, the processing device 110 of the processing system 100 in the embodiment is a computer, having a ROM (Read Only Memory) 111, a RAM (Random Access Memory) 112, a CPU (Central Processing Unit) 113, and an HDD (Hard Disk Drive) 114.

[0171] ROM111 stores programs used to control the computer's operations. ROM111 contains programs necessary for the computer to perform the aforementioned processes.

[0172] RAM 112 functions as a storage area for expanding the program stored in ROM 111. CPU 113 includes processing circuitry. CPU 113 reads the control program stored in ROM 111 and controls the computer's operations according to the control program. CPU 113 expands various data obtained through the computer's operations into RAM 112. HDD 114 stores the data required for reading and the data acquired during the reading process. HDD 114 serves, for example, as... Figure 1 The storage device 120 shown functions.

[0173] The processing device 110 can also replace the HDD 114 and have eMMC (embedded Multi Media Card), SSD (Solid State Drive), SSHD (Solid State Drive), etc.

[0174] Input device 140 includes at least one of a mouse, keyboard, and touchpad. Display device 150 includes at least one of a monitor and projector. Alternatively, a device that functions as both input device 140 and display device 150 may be used, similar to a touchpad.

[0175] Regarding control device 164, it can also be applied. Figure 26 The hardware structure shown. Or, Figure 26 The computer shown can also function as both a processing device 110 and a control device 164. Alternatively, the functions of the processing device 110 or the control device 164 can be achieved through the cooperation of multiple computers.

[0176] In the above examples, the case where the average shape of the welded portion 13 is circular was described. The second determination described above can also be applied to cases where the shape of the welded portion 13 is not circular. For example, after setting a first region R1 based on the result of the first determination, the processing device 110 extracts the outer edge of the first region R1. The processing device 110 can also determine whether the result of the first determination is appropriate based on the similarity between the outer edge of the first region R1 and a pre-defined shape. For example, the processing device 110 calculates the similarity between an image representing the outer edge of the first region R1 and an image including a pre-defined shape. The similarity is calculated based on feature points of each image, etc. The processing device 110 determines whether the result of the first determination is appropriate by comparing the similarity with a pre-defined threshold.

[0177] By using the processing system and processing method described above, more accurate data related to the welding object can be obtained. The same effect can be achieved by using a program that enables a computer to operate as a processing system.

[0178] The processing of the aforementioned data can also be recorded as a computer-executable program on non-transitory computer-readable storage media such as disks (floppy disks and hard disks, etc.), optical discs (CD-ROM, CD-R, CD-RW, DVD-ROM, DVD±R, DVD±RW, etc.), and semiconductor memory.

[0179] For example, data recorded on a recording medium can be read by a computer (or embedded system). The recording format (storage format) on the recording medium is arbitrary. For example, a computer reads a program from the recording medium and, based on that program, causes the CPU to execute the instructions described in the program. In a computer, program retrieval (or reading) can also be performed via a network.

[0180] The above embodiments of the present invention have been illustrated, but these embodiments are merely examples and are not intended to limit the scope of the invention. These new embodiments can be implemented in various other ways, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included within the scope or spirit of the invention, and are also included within the scope of the invention as described in the claims and its equivalents. Furthermore, the above-described embodiments can be combined with each other for implementation.

Claims

1. A processing apparatus that performs the following processing: The detector receives the detection result of the reflected wave from the detector, which includes a plurality of detection elements arranged in a first direction and a second direction that intersect each other, and performs detection including transmitting ultrasonic waves toward the welding object and detecting the reflected wave. Based on the detection results, a first determination is performed, in which joint and non-joint are determined at multiple points along the first and second directions of the welding object; Calculate a first value and a second value, the first value representing one selected from the group consisting of the roundness of the first region, the roundness of the first region, the ellipticity of the first region, and the ratio of the diameter of the first region to the equivalent circle diameter of the first region, and the second value representing another selected from the group, the first region being based on the point determined to be joined; as well as A second determination is performed, in which the first value is compared with a preset first threshold and the second value is compared with a preset second threshold, thereby determining whether the result of the first determination is appropriate.

2. The processing apparatus according to claim 1, wherein, Based on the result of the first determination, data related to the welding object is derived. The data is used when the result of the first determination is deemed appropriate.

3. The processing apparatus according to claim 2, wherein, The data includes at least one of the following: the area of ​​the welded part corresponding to the first region, the diameter of the welded part, and the determination result of whether the weld in the welded object is good or bad.

4. A processing system, comprising: The processing apparatus according to any one of claims 1 to 3; and The detector, When the processing device determines that the result of the first determination is inappropriate, the detector performs the detection on the welding object again.

5. The processing system according to claim 4, wherein, In the subsequent detection, the angle of the detector relative to the welding object is set to a different value than the angle of the detector relative to the welding object in the previous detection.

6. The processing system according to claim 4, wherein, In the subsequent detection, the angle of the detector relative to the welding object is set to the same value as the angle of the detector relative to the welding object in the previous detection.

7. The processing system according to claim 4, wherein, It also includes a coating device for applying coupling agent to the welding object. The detector comes into contact with the welding object that has been coated with the coupling agent.

8. The processing system according to claim 4, wherein, It also has: An arm, with the detector disposed at its front end; and The control device controls the detector and the arm. The control device drives the arm to bring the detector into contact with the object being welded.

9. The processing system according to claim 8, wherein, It also includes a camera device. The camera device captures an image of the object being welded. The control device detects the position of the welded part in the welded object based on the image, and causes the detector to contact the detected position.

10. A processing method, Perform the following processing: The detector receives the detection result of the reflected wave from the detector, which includes a plurality of detection elements arranged in a first direction and a second direction that intersect each other, and performs detection including transmitting ultrasonic waves toward the welding object and detecting the reflected wave. Based on the detection results, a first determination is performed, in which joint and non-joint are determined at multiple points along the first and second directions of the welding object; Calculate a first value and a second value, the first value representing one selected from the group consisting of the roundness of the first region, the roundness of the first region, the ellipticity of the first region, and the ratio of the diameter of the first region to the equivalent circle diameter of the first region, and the second value representing another selected from the group, the first region being based on the point determined to be joined; as well as A second determination is performed, in which the first value is compared with a preset first threshold and the second value is compared with a preset second threshold, thereby determining whether the result of the first determination is appropriate.

11. The processing method according to claim 10, wherein, If the result of the first determination is deemed inappropriate, the detector is used to perform the detection on the welding object again.

12. A storage medium storing a program that causes a computer to perform the following processes: The detector receives the detection result of the reflected wave from the detector, which includes a plurality of detection elements arranged in a first direction and a second direction that intersect each other, and performs detection including transmitting ultrasonic waves toward the welding object and detecting the reflected wave. Based on the detection results, a first determination is performed, in which joint and non-joint are determined at multiple points along the first and second directions of the welding object; Calculate a first value and a second value, the first value representing one selected from the group consisting of the roundness of the first region, the roundness of the first region, the ellipticity of the first region, and the ratio of the diameter of the first region to the equivalent circle diameter of the first region, and the second value representing another selected from the group, the first region being based on the point determined to be joined; as well as A second determination is performed, in which the first value is compared with a preset first threshold and the second value is compared with a preset second threshold, thereby determining whether the result of the first determination is appropriate.

13. The storage medium according to claim 12, wherein, When the program determines that the result of the first determination is inappropriate, it causes the computer to re-execute the detection of the welding object using the detector.

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